Unicycle Robot Stabilized by the Effect of Gyroscopic Precession and Its Control Realization Based on Centrifugal Force Compensation

This study presents a new control algorithm based on centrifugal force compensation for balancing unicycle robots, as well as for improving the system's robustness. First, the mechanical structure of the unicycle robot based on gyroscopic precession is built. Second, a new control algorithm based on centrifugal force compensation is developed, whose basic method is to adopt centrifugal force to compensate gyroscopic torque for lateral balance....